Allocation Hybrid WSN Mobile Sensor Node for Optimal Dynamic Coverage Control

In wireless sensor networks (WSNs), coverage is an essential performance metric for monitoring delimited regions, with the allocation of sensor nodes being a critical problem for ensuring full coverage. This paper addresses the optimal allocation of mobile sensor nodes based on optimal control techniques, proposing a solution to the allocation problem, considering that the number of available nodes is sufficient to achieve full coverage. The proposed methods and algorithms for optimally allocating dynamic sensor nodes provide flawless coverage and without loss of connectivity among nodes. Based on the angular velocity of the agents, a coverage control scheme is developed, with the displacement to the specified position guaranteed by the discrete linear quadratic tracker (DLQT) and this position maintained by means of the discrete linear quadratic regulator (DLQR), in order to reduce the arrival time and residence time, respectively, in the angular position. In this scheme, the monitoring region is a delimited circle, with a static sensor node at its center. The mobile sensor nodes are positioned on a displacement circle with a radius smaller than that of the monitored region. The order of these dynamic agents along the circle is preserved to avoid collisions. Finally, the results presented indicate that the network topology, its modelling, and the proposed controller are efficient for application in monitoring hostile environments, providing greater network reliability.